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付録
4
章
4 - 1
Contents
4
Servo Adjustment
4-1 D/A output specifications for servo drive unit................................................ 4 - 2
4-1-1 D/A output specifications ...................................................................... 4 - 2
4-1-2 Output data settings ............................................................................. 4 - 3
4-1-3 Setting the output magnification ........................................................... 4 - 5
4-2 Servo adjustment procedure......................................................................... 4 - 6
4-3 Gain adjustment............................................................................................ 4 - 7
4-3-1 Current loop gain .................................................................................. 4 - 7
4-3-2 Speed loop gain.................................................................................... 4 - 8
4-3-3 Position loop gain ............................................................................... 4 - 12
4-4 Characteristics improvement ...................................................................... 4 - 16
4-4-1 Optimal adjustment of cycle time........................................................ 4 - 16
4-4-2 Vibration suppression measures ........................................................ 4 - 19
4-4-3 Improving the cutting surface precision.............................................. 4 - 24
4-4-4 Improvement of characteristics during acceleration/deceleration....... 4 - 27
4-4-5 Improvement of protrusion at quadrant changeover........................... 4 - 30
4-4-6 Improvement of overshooting ............................................................. 4 - 35
4-4-7 Improvement of the interpolation control path .................................... 4 - 38
4-5 Adjustment during full closed loop control .................................................. 4 - 40
4-5-1 Outline ................................................................................................ 4 - 40
4-5-2 Speed loop delay compensation......................................................... 4 - 41
4-5-3 Dual feedback control......................................................................... 4 - 42
4-6 Settings for emergency stop ....................................................................... 4 - 44
4-6-1 Deceleration control............................................................................ 4 - 44
4-6-2 Vertical axis drop prevention control................................................... 4 - 47
4-6-3 Vertical axis pull-up control................................................................. 4 - 50
4-7 Protective functions..................................................................................... 4 - 52
4-7-1 Overload detection ............................................................................. 4 - 52
4-7-2 Excessive error detection ................................................................... 4 - 53
4-7-3 Collision detection function................................................................. 4 - 54
4-8 Servo control signal .................................................................................... 4 - 58
4-8-1 Servo control input (NC to Servo)....................................................... 4 - 58
4-8-2 Servo control output (Servo to NC)..................................................... 4 - 61